I think it is a good introduction with many graphs and very good implementation details. An excellent How To.

I have pieced together a printer friendly version of the paper -- PM me (include your e-mail address) and I will shoot you a copy (it is 21 pages including 18 nice figures)*.

FYI

Joe J.

*I hesistate to upload it because it is not my work and I think the guys from embedded.com deserve the traffic. Am no lawyer but I think sharing a printer friendly version falls within so called "fair use." Again, just PM me and I will save you a few minutes of cutting and pasting.

For those of you who know a pack rat and long time subscriber to Embedded Systems Programming/Embedded Systems Design, the article was originally published in the October 2000 issue starting on pages 86.